The invention provides an intelligent vehicle transverse and longitudinal cooperative control method based on model parameters, the first part is vehicle longitudinal control, and the method comprises the steps that S11, a vehicle-mounted sensor fusion system feeds back road conditions and vehicle driving state information in real time; s12, the decision-making layer outputs an expected speed and an expected acceleration according to the information; s13, the control system calculates a speed error and an acceleration error; s14, the fuzzy longitudinal controller calculates control signals of an accelerator pedal and a brake pedal; s15, the engine, the transmission, the braking system and the steering system execute related actions; the second part is vehicle transverse control which comprises the following steps: S21, outputting a reference path by a decision-making layer; s22, the preview fuzzy controller outputs a preview distance; s23, the driver model outputs the optimal lateral acceleration; s24, the output of the driver model is transmitted to an optimal lateral acceleration tracker; and S25, the output of the optimal lateral acceleration tracker is connected to the road-vehicle model to realize transverse control of the vehicle.
本发明提供一种基于模型参数的智能车辆横纵向协同控制方法,第一部分为车辆纵向控制,包括S11:车载传感器融合系统实时反馈路况和车辆驾驶状态信息;S12:决策层根据信息输出期望速度和期望加速度;S13:控制系统计算速度误差和加速度误差;S14:模糊纵向控制器计算油门踏板和制动踏板控制信号;S15:发动机,变速器,制动系统和转向系统执行相关动作;第二部分为车辆横向控制,包括S21:决策层输出参考路径;S22:预瞄模糊控制器输出预瞄距离;S23:驾驶员模型输出最优侧向加速度;S24:驾驶员模型的输出传到最优侧向加速度跟踪器;S25:最优侧向加速度跟踪器输出连接到道路‑车辆模型,实现车辆横向控制。
Intelligent vehicle transverse and longitudinal cooperative motion control method based on model parameters
一种基于模型参数的智能车辆横纵向协同运动控制方法
2023-03-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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